Abstract:Due to the high reliability and simple adjustment, proportional‐integral‐derivative (PID) control is widely used in practical systems. However, intrinsic non‐linearity of the pose dynamics hinders the design of a PID pose controller. Besides, topological constraints on the rigid body configuration space SE(3) prevent a continuous or a memoryless discontinuous state feedback control from achieving robust global stability. For these two issues, this paper develops a dual quaternion‐based hybrid PID pose tracking… Show more
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